/*
 * Copyright (c) 2014-2018, the neonavigation authors
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 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
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 *     * Neither the name of the copyright holder nor the names of its 
 *       contributors may be used to endorse or promote products derived from 
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef COSTMAP_CSPACE_COSTMAP_3D_LAYER_PLAIN_H
#define COSTMAP_CSPACE_COSTMAP_3D_LAYER_PLAIN_H

#include <geometry_msgs/PolygonStamped.h>
#include <nav_msgs/OccupancyGrid.h>
#include <costmap_cspace_msgs/CSpace3D.h>
#include <costmap_cspace_msgs/CSpace3DUpdate.h>

#include <costmap_cspace/costmap_3d_layer/base.h>

namespace costmap_cspace
{
class Costmap3dLayerPlain : public Costmap3dLayerFootprint
{
public:
  using Ptr = std::shared_ptr<Costmap3dLayerPlain>;

  Costmap3dLayerPlain()
  {
    Polygon footprint;
    footprint.v.resize(3);
    for (auto &p : footprint.v)
    {
      p[0] = p[1] = 0.0;
    }
    setFootprint(footprint);
  }
  void loadConfig(XmlRpc::XmlRpcValue config)
  {
    setExpansion(
        static_cast<double>(config["linear_expand"]),
        static_cast<double>(config["linear_spread"]));
  }
};
}  // namespace costmap_cspace

#endif  // COSTMAP_CSPACE_COSTMAP_3D_LAYER_PLAIN_H
